notesum.ai

Published at December 5

cs.RO

cs.LG

Released Date: December 5, 2024

Authors: Yi-Hung Chiu¹, Ung Hee Lee², Changseob Song¹, Manaen Hu¹, Inseung Kang¹

Aff.: ¹Carnegie Mellon University; ²University of Michigan

Reward Ratio		Target vs. Measured Speed		Ground Truth vs. Measured Joint Angle
Discriminator	Speed	RMSE (m/s)	$\tiny\textit{R}^{2}$	RMSE (°)	$\tiny\textit{R}^{2}$
1	0	0.51 $\pm$ 0.02	-0.85 $\pm$ 0.14	5.42 $\pm$ 0.16	0.80 $\pm$ 0.01
0.9	0.1	0.19 $\pm$ 0.01	0.73 $\pm$ 0.02	3.86 $\pm$ 0.07	0.90 $\pm$ 0.01
0.8	0.2	0.13 $\pm$ 0.01	0.88 $\pm$ 0.01	4.97 $\pm$ 0.06	0.85 $\pm$ 0.01
0.7	0.3	0.08 $\pm$ 0.02	0.95 $\pm$ 0.02	5.38 $\pm$ 0.15	0.81 $\pm$ 0.01
0.6	0.4	0.07 $\pm$ 0.01	0.96 $\pm$ 0.01	-	-
0.5	0.5	0.06 $\pm$ 0.01	0.98 $\pm$ 0.01	5.24 $\pm$ 0.08	0.83 $\pm$ 0.01